Related papers: Efficient and Robust Time-Optimal Trajectory Plann…
In this paper, we tackle the problem of flying a quadrotor using time-optimal control policies that can be replanned online when the environment changes or when encountering unknown disturbances. This problem is challenging as the…
Quadrotors are among the most agile flying robots. However, planning time-optimal trajectories at the actuation limit through multiple waypoints remains an open problem. This is crucial for applications such as inspection, delivery, search…
Agile quadrotor flight pushes the limits of control, actuation, and onboard perception. While time-optimal trajectory planning has been extensively studied, existing approaches typically neglect the tight coupling between vehicle dynamics,…
Time-optimal trajectories drive quadrotors to their dynamic limits, but computing such trajectories involves solving non-convex problems via iterative nonlinear optimization, making them prohibitively costly for real-time applications. In…
We tackle the problem of flying time-optimal trajectories through multiple waypoints with quadrotors. State-of-the-art solutions split the problem into a planning task - where a global, time-optimal trajectory is generated - and a control…
In many robotic tasks, such as autonomous drone racing, the goal is to travel through a set of waypoints as fast as possible. A key challenge for this task is planning the time-optimal trajectory, which is typically solved by assuming…
We consider the problem of generating a time-optimal quadrotor trajectory that attains a set of prescribed waypoints. This problem is challenging since the optimal trajectory is located on the boundary of the set of dynamically feasible…
Minimum-time navigation within constrained and dynamic environments is of special relevance in robotics. Seeking time-optimality, while guaranteeing the integrity of time-varying spatial bounds, is an appealing trade-off for agile vehicles,…
We address the challenge of real-time planning of minimum-time trajectories over multiple waypoints, onboard multirotor UAVs. Previous works demonstrated that achieving a truly time-optimal trajectory is computationally too demanding to…
In many mobile robotics scenarios, such as drone racing, the goal is to generate a trajectory that passes through multiple waypoints in minimal time. This problem is referred to as time-optimal planning. State-of-the-art approaches either…
In drone racing, the time-minimum trajectory is affected by the drone's capabilities, the layout of the race track, and the configurations of the gates (e.g., their shapes and sizes). However, previous studies neglect the configuration of…
In this paper, we propose a robust and efficient quadrotor motion planning system for fast flight in 3-D complex environments. We adopt a kinodynamic path searching method to find a safe, kinodynamic feasible and minimum-time initial…
Reaching fast and autonomous flight requires computationally efficient and robust algorithms. To this end, we train Guidance & Control Networks to approximate optimal control policies ranging from energy-optimal to time-optimal flight. We…
Agile trajectory planning can improve the efficiency of multi-rotor Uncrewed Aerial Vehicles (UAVs) in scenarios with combined task-oriented and kinematic trajectory planning, such as monitoring spatio-temporal phenomena or intercepting…
This paper investigates optimal takeoff trajectory planning for a quadrotor modeled with vertical-plane rigid body dynamics in an uncertain, one-dimensional wind-field. The wind-field varies horizontally and propagates across an operating…
Recent advances in trajectory replanning have enabled quadrotor to navigate autonomously in unknown environments. However, high-speed navigation still remains a significant challenge. Given very limited time, existing methods have no strong…
Learning-based controllers have achieved impressive performance in agile quadrotor flight but typically rely on massive training in simulation, necessitating accurate system identification for effective Sim2Real transfer. However, even with…
In this paper, an adaptive super-twisting controller is designed for an agile maneuvering quadrotor unmanned aerial vehicle to achieve accurate trajectory tracking in the presence of external disturbances. A cascaded control architecture is…
This paper develops computationally efficient data-driven model predictive control (MPC) for Agile quadrotor flight. Agile quadrotors in high-speed flights can experience high levels of aerodynamic effects. Modeling these turbulent…
In this paper, we present a motion planning strategy for UAVs that generates a time-optimal trajectory to survey a given target area. There are several situations where completing an aerial survey is time sensitive, such as gaining…